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Space mission operations are extremely labor and knowledge-intensive and are driven by the ground and flight systems. Inclusion of an autonomy capability can have dramatic effects on mission operations. We describe the past mission operations flow for the Earth Observing-1 (EO-1) spacecraft as well as the more autonomous operations to which we transferred as part of the Autonomous Sciencecraft Experiment (ASE).
Operating the International Space Station (ISS) involves many complex crew tended, ground operated and combined systems. Over the life of the ISS program, it has become evident that by having automated and autonomous systems on board, more can be accomplished and at the same time reduce the workload of the crew and ground operators. Engineers at the National Aeronautics and Space Administration's (NASA) Marshall Space Flight Center in Huntsville Alabama, working in collaboration with The Charles Stark Draper Laboratory have developed an autonomous software system that uses the Timeliner User Interface Language and expert logic to continuously monitor ISS payload systems, issue commands and signal ground operators as required. This paper describes the development history of the system, its concept of operation and components. The paper also discusses the testing process as well as the facilities used to develop the system. The paper concludes with a description of future enhancement plans for use on the ISS as well as potential applications to Lunar and Mars exploration systems.
This viewgraph presentation covers the following topics: Coupled Layer Architecture for Robotic Autonomy CLARAty system at the functional layer and the decision layer; and CLEaR - AI Planning and Schedule - Task Based Control, A demonstration is of the operation of the system is given, with viewgraphs of the rover movement control.
For over two terrestrial years, the Mars Exploration Rover Opportunity has been exploring the martian surface at Meridiani Planum using the Athena instrument payload [1], including the Alpha Particle X-Ray Spectrometer (APXS). The APXS has a small sensor head that is mounted on the robotic arm of the rover. The chemistry, mineralogy and morphology of selected samples were investigated by the APXS along with the Moessbauer Spectrometer (MB) and the Microscopic Imager (MI). The Rock Abrasion Tool (RAT) provided the possibility to dust and/or abrade rock surfaces down to several millimeters to expose fresh material for analysis. We report here on APXS data gathered along the nearly 6-kilometers long traverse in craters and plains of Meridiani.
Current inventory management techniques for consumables and supplies aboard space vehicles are burdensome and time consuming. Inventory of food, clothing, and supplies are taken periodically by manually scanning the barcodes on each item. The inaccuracy of reading barcodes and the excessive amount of time it takes for the astronauts to perform this function would be better spent doing scientific experiments. Therefore, there is a need for an alternative method of inventory control by NASA astronauts. Radio Frequency Identification (RFID) is an automatic data capture technology that has potential to create a more effective and user-friendly inventory management system (IMS). In this paper we introduce a Design for Six Sigma Research (DFSS-R) methodology that allows for reliability testing of RFID systems. The research methodology uses a modified sequential design of experiments process to test and evaluate the quality of commercially available RFID technology. The results from the experimentation are compared to the requirements provided by NASA to evaluate the feasibility of using passive Generation 2 RFID technology to improve inventory control aboard crew exploration vehicles.
This viewgraph presentation reviews basic navigation concepts, describes coordinate systems and identifies attitude determination techniques including Primary Guidance, Navigation and Control System (PGNCS) IMU management and Command and Service Module Stabilization and Control System/Lunar Module (LM) Abort Guidance System (AGS) attitude management. The presentation also identifies state vector determination techniques, including PGNCS coasting flight navigation, PGNCS powered flight navigation and LM AGS navigation.
A method detects and isolates in-flight sensor, actuator, and component faults for advanced propulsion systems. In sharp contrast to many conventional methods, which deal with either sensor fault or component fault, but not both, this method considers sensor fault, actuator fault, and component fault under one systemic and unified framework. The proposed solution consists of two main components: a bank of real-time, nonlinear adaptive fault diagnostic estimators for residual generation, and a residual evaluation module that includes adaptive thresholds and a Transferable Belief Model (TBM)-based residual evaluation scheme. By employing a nonlinear adaptive learning architecture, the developed approach is capable of directly dealing with nonlinear engine models and nonlinear faults without the need of linearization. Software modules have been developed and evaluated with the NASA C-MAPSS engine model. Several typical engine-fault modes, including a subset of sensor/actuator/components faults, were tested with a mild transient operation scenario. The simulation results demonstrated that the algorithm was able to successfully detect and isolate all simulated faults as long as the fault magnitudes were larger than the minimum detectable/isolable sizes, and no misdiagnosis occurred
When one or more main engines fail during ascent, the flight crew of the Space Shuttle must make several critical decisions and accurately perform a series of abort procedures. One of the most important decisions for many aborts is the selection ofa landing site. Several factors influence the ability to reach a landing site, including the spacecraft point of atmospheric entry, the energy state at atmospheric entry, the vehicle glide capability from that energy state, and whether one or more suitable landing sites are within the glide capability. Energy assessment is further complicated by the fact that phugoid oscillations in total energy influence glide capability. Once the glide capability is known, the crew must select the "best" site option based upon glide capability and landing site conditions and facilities. Since most of these factors cannot currently be assessed by the crew in flight, extensive planning is required prior to each mission to script a variety of procedures based upon spacecraft velocity at the point of engine failure (or failures). The results of this preflight planning are expressed in tables and diagrams on mission-specific cockpit checklists. Crew checklist procedures involve leafing through several pages of instructions and navigating a decision tree for site selection and flight procedures - all during a time critical abort situation. With the advent of the Cockpit Avionics Upgrade (CAU), the Shuttle will have increased on-board computational power to help alleviate crew workload during aborts and provide valuable situational awareness during nominal operations. One application baselined for the CAU computers is Shuttle Abort Flight Management (SAFM), whose requirements have been designed and prototyped. The SAFM application includes powered and glided flight algorithms. This paper describes the glided flight algorithm which is dispatched by SAFM to determine the vehicle glide capability and make recommendations to the crew for site selection as well as to monitor glide capability while in route to the selected site. Background is provided on Shuttle entry guidance as well as the various types of Shuttle aborts. SAFM entry requirements and cockpit disp lays are discussed briefly to provide background for Glided Flight algorithm design considerations. The central principal of the Glided Flight algorithm is the use of energy-over-weight (EOW) curves to determine range and crossrange boundaries. The major challenges of this technique are exo-atmospheric flight, and phugoid oscillations in energy. During exo-atmospheric flight, energy is constant, so vehicle EOW is not sufficient to determine glide capability. The paper describes how the exo-atmospheric problem is solved by propagating the vehicle state to an "atmospheric pullout" state defined by Shuttle guidance parameters.
The 2008-2009 long-lasting solar minimum activity has been the one of its kind since the dawn of space age, offering exceptional conditions for investigating space weather in the near-Earth environment. First ever detection of Ionospheric Alfven Resonator (IAR) signatures in orbit offers new means for investigating ionospheric electrodynamics, namely MHD (MagnetoHydroDynamics) wave propagation, aeronomy processes, ionospheric dynamics, and Sun-Earth connection mechanisms at a local scale. Local and global plasma density heterogeneities in the ionosphere and magnetosphere allow for formation of waveguides and resonators where magnetosonic and shear Alfven waves propagate. The ionospheric magnetosonic waveguide results from complete magnetosonic wave reflection about the ionospheric F-region peak, where the Alfven index of refraction presents a maximum. MHD waves can also be partially trapped in the vertical direction between the lower boundary of the ionosphere and the magnetosphere, a resonance mechanism known as IAR. In this work we present C/NOFS (Communications/Navigation Outage Forecasting System) Extremely Low Frequency (ELF) electric field measurements related to IAR signatures, discuss the resonance and wave propagation mechanisms in the ionosphere, and address the electromagnetic inverse problem from which electron/ion distributions can be derived. These peculiar IAR electric field measurements provide new, complementary methodologies for inferring ionospheric electron and ion density profiles, and also contribute for the investigation of ionosphere dynamics and space weather monitoring. Specifically, IAR spectral signatures measured by C/NOFS contribute for improving the International Reference Ionosphere (IRI) model, namely electron density and ion composition.
The NPP Instrument Calibration Support Element (NICSE) is one of the elements within the NASA NPP Science Data Segment (SDS). The primary responsibility of NICSE is to independently monitor and evaluate on-orbit radiometric and geometric performance of the Visible Infrared Imaging Radiometer Suite (VIIRS) instrument and to validate its Sensor Data Record (SDR) [1]. The NICSE interacts and works closely with other SDS Product Evaluation and Analysis Tools Elements (PEATE) and the NPP Science Team (ST) and supports their on-orbit data product calibration and validation efforts. The NICSE also works closely with the NPP Instrument Calibration Support Team (NICST) during sensor pre-launch testing in ambient and thermal vacuum environment [2]. This paper provides an overview of NICSE VIIRS sensor post-launch calibration support with a focus on the use of sensor on-board calibrators (OBC) for the radiometric calibration and characterization. It presents the current status of NICSE post-launch radiometric calibration tool development effort based on its design requirements
The Materials Science Research Rack (MSRR) is a research facility developed under a cooperative research agreement between NASA and ESA for materials science investigations on the International Space Station (ISS). MSRR was launched on STS-128 in August 2009, and is currently installed in the U.S. Destiny Laboratory Module. Since that time, MSRR has performed virtually flawlessly, logging more than 620 hours of operating time. The MSRR accommodates advanced investigations in the microgravity environment on the ISS for basic materials science research in areas such as solidification of metals and alloys. The purpose is to advance the scientific understanding of materials processing as affected by microgravity and to gain insight into the physical behavior of materials processing. MSRR allows for the study of a variety of materials including metals, ceramics, semiconductor crystals, and glasses. Materials science research benefits from the microgravity environment of space, where the researcher can better isolate chemical and thermal properties of materials from the effects of gravity. With this knowledge, reliable predictions can be made about the conditions required on Earth to achieve improved materials. MSRR is a highly automated facility with a modular design capable of supporting multiple types of investigations. Currently the NASA-provided Rack Support Subsystem provides services (power, thermal control, vacuum access, and command and data handling) to the ESA developed Materials Science Laboratory (MSL) which accommodates interchangeable Furnace Inserts (FI). Two ESA-developed FIs are presently available on the ISS: the Low Gradient Furnace (LGF) and the Solidification and Quenching Furnace (SQF). Sample-Cartridge Assemblies (SCAs), each containing one or more material samples, are installed in the FI by the crew and can be processed at temperatures up to 1400 C. Once an SCA is installed, the experiment can be run by automatic command or science conducted via telemetry commands from the ground. Initially, 12 SCAs were processed in the first furnace insert for a team of European and US investigators. After these samples were processed the Furnaces Inserts were exchanged and an additional single sample was processed. The processed samples have been returned to Earth for evaluation and comparison of their properties to samples similarly processed on the ground. A preliminary examination of the samples indicates that the majority of the desired science objectives have been successfully met leading to significant improvements in the understanding of alloy solidification processes. Six SCAs were launched on Space Shuttle Mission STS-135 in July 2011 for processing during the Fall of 2011. Additional batches are planned for future processing. This facility is available to support additional materials science investigations through programs such as the US National Laboratory, Technology Development, NASA Research Announcements, and others.
The Moderate Resolution Imaging Spectroradiometer (MODIS) was developed by NASA and launched aboard the Terra spacecraft on December 18, 1999 and Aqua spacecraft on May 4, 2002. A comprehensive set of remote sensing algorithms for the retrieval of cloud physical and optical properties have enabled over twelve years of continuous observations of cloud properties from Terra and over nine years from Aqua. The archived products from these algorithms include 1 km pixel-level (Level-2) and global gridded Level-3 products. In addition to an extensive cloud mask, products include cloud-top properties (temperature, pressure, effective emissivity), cloud thermodynamic phase, cloud optical and microphysical parameters (optical thickness, effective particle radius, water path), as well as derived statistics. Results include the latitudinal distribution of cloud optical and radiative properties for both liquid water and ice clouds, as well as latitudinal distributions of cloud top pressure and cloud top temperature. MODIS finds the cloud fraction, as derived by the cloud mask, is nearly identical during the day and night, with only modest diurnal variation. Globally, the cloud fraction derived by the MODIS cloud mask is approx.67%, with somewhat more clouds over land during the afternoon and less clouds over ocean in the afternoon, with very little difference in global cloud cover between Terra and Aqua. Overall, cloud fraction over land is approx.55%, with a distinctive seasonal cycle, whereas the ocean cloudiness is much higher, around 72%, with much reduced seasonal variation. Cloud top pressure and temperature have distinct spatial and temporal patterns, and clearly reflect our understanding of the global cloud distribution. High clouds are especially prevalent over the northern hemisphere continents between 30 and 50 . Aqua and Terra have comparable zonal cloud top pressures, with Aqua having somewhat higher clouds (cloud top pressures lower by 100 hPa) over land due to afternoon deep convection. The coldest cloud tops (colder than 230 K) generally occur over Antarctica and the high clouds in the tropics (ITCZ and the deep convective clouds over the western tropical Pacific and Indian sub-continent).
NASA's Stratospheric Observatory for Infrared Astronomy (SOFIA) airborne observatory flies in a modified B747-SP aircraft in the lower stratosphere above more than 99.9% of the Earth's water vapor. As low as this residual water vapor is, it will still affect SOFIA's infrared and sub-millimeter astronomical observations. As a result, a heterodyne instrument has been developed to observe the strength and shape of the 1830Hz rotational line of water, allowing measurements of the integrated water vapor overburden in flight. In order to be useful in correcting the astronomical signals, the required measured precipitable water vapor accuracy must be 2 microns or better, 3 sigma, and measured at least once a minute. The Water Vapor Monitor has flown 22 times during the SOFIA Early Science shared-risk period. The instrument water vapor overburden data obtained were then compared with concurrent data from GOES-V satellites to perform a preliminary calibration of the measurements. This presentation will cover the.results of these flights. The final flight calibration necessary to reach the required accuracy will await subsequent flights following the SOFIA observatory upgrade that is taking place during the spring and summer of 2012.
Prior to the retirement of the Space Shuttle, many exterior repairs on the International Space Station (ISS) were carried out by shuttle astronauts, trained on the ground and flown to the Station to perform these specific repairs. With the retirement of the shuttle, this is no longer an available option. As such, the need for ISS crew members to review scenarios while on flight, either for tasks they already trained for on the ground or for contingency operations has become a very critical issue. NASA astronauts prepare for Extra-Vehicular Activities (EVA) or Spacewalks through numerous training media, such as: self-study, part task training, underwater training in the Neutral Buoyancy Laboratory (NBL), hands-on hardware reviews and training at the Virtual Reality Laboratory (VRLab). In many situations, the time between the last session of a training and an EVA task might be 6 to 8 months. EVA tasks are critical for a mission and as time passes the crew members may lose proficiency on previously trained tasks and their options to refresh or learn a new skill while on flight are limited to reading training materials and watching videos. In addition, there is an increased need for unplanned contingency repairs to fix problems arising as the Station ages. In order to help the ISS crew members maintain EVA proficiency or train for contingency repairs during their mission, the Johnson Space Center's VRLab designed an immersive ISS Virtual Reality Trainer (VRT). The VRT incorporates a unique optical system that makes use of the already successful Dynamic On-board Ubiquitous Graphics (DOUG) software to assist crew members with procedure reviews and contingency EVAs while on board the Station. The need to train and re-train crew members for EVAs and contingency scenarios is crucial and extremely demanding. ISS crew members are now asked to perform EVA tasks for which they have not been trained and potentially have never seen before. The Virtual Reality Trainer (VRT) provides an immersive 3D environment similar to the one experienced at the VRLab crew training facility at the NASA Johnson Space Center. VRT bridges the gap by allowing crew members to experience an interactive, 3D environment to reinforce skills already learned and to explore new work sites and repair procedures outside the Station.
The concept of Traffic Aware Strategic Aircrew Requests (TASAR) combines Automatic Dependent Surveillance Broadcast (ADS-B) IN and airborne automation to enable user-optimal in-flight trajectory replanning and to increase the likelihood of Air Traffic Control (ATC) approval for the resulting trajectory change request. TASAR is designed as a near-term application to improve flight efficiency or other user-desired attributes of the flight while not impacting and potentially benefiting ATC. Previous work has indicated the potential for significant benefits for each TASAR-equipped aircraft. This paper will discuss the approach to minimizing TASAR's cost for implementation and accelerating readiness for near-term implementation.
Frequency response estimation results are presented using piloted inputs and a real-time estimation method recently developed for multisine inputs. A nonlinear simulation of the F-16 and a Piper Saratoga research aircraft were subjected to different piloted test inputs while the short period stabilator/elevator to pitch rate frequency response was estimated. Results show that the method can produce accurate results using wide-band piloted inputs instead of multisines. A new metric is introduced for evaluating which data points to include in the analysis and recommendations are provided for applying this method with piloted inputs.
NASA is collaborating with private entities for the development of commercial space vehicles. The Space and Clinical Operations Division was tasked to review the oxygen and respiratory support system and recommend what capabilities, if any, the vehicle should have to support the return of an ill or injured crewmember. The Integrated Medical Model (IMM) was utilized as a data source for the development of these recommendations. The Integrated Medical Model (IMM) was used to simulate a six month, six crew, International Space Station (ISS) mission. Three medical system scenarios were considered based on the availability of (1) oxygen only, (2) oxygen and a ventilator, or (3) neither oxygen nor ventilator. The IMM analysis provided probability estimates of medical events that would require either oxygen or ventilator support. It also provided estimates of crew health, the probability of evacuation, and the probability of loss of crew life secondary to medical events for each of the three medical system scenarios. These IMM outputs were used as objective data to enable evidence‐based decisions regarding oxygen and respiratory support system requirements for commercial crew vehicles. The IMM provides data that may be utilized to support informed decisions regarding the development of medical systems for commercial crew vehicles.